697 lines
23 KiB
C#
697 lines
23 KiB
C#
using PA_DronePack;
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using System.Collections;
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using System.Collections.Generic;
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using Unity.VisualScripting;
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using UnityEngine;
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public class UAVController : MonoBehaviour
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{
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[Tooltip("sets the drone's max forward speed")]
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public float forwardSpeed = 7f;
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[Tooltip("sets the drone's max backward speed")]
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public float backwardSpeed = 5f;
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[Tooltip("sets the drone's max left strafe speed")]
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public float rightSpeed = 5f;
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[Tooltip("sets the drone's max right strafe speed")]
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public float leftSpeed = 5f;
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[Tooltip("sets the drone's max rise speed")]
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public float riseSpeed = 5f;
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[Tooltip("sets the drone's max lower speed")]
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public float lowerSpeed = 5f;
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[Tooltip("how fast the drone rotates")]
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public float turnSensitivty = 2f;
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[Tooltip("how eaisly the drone is affected by outside forces")]
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public float stability = 0.1f;//无人机稳定性
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[Tooltip("states whether or not the drone active on start")]
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public bool motorOn = true;//是否启动
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[Tooltip("单无人机模式，可控制单旋翼动力输出")]
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public bool mode_fly_by_propeller = true;
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[Tooltip("输入速度方向控制无人机")]
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public bool mode_fly_by_direction = false;
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[Tooltip("飞行方向、速度")]
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public Vector3 fly_direction;
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[Tooltip("无人机旋翼速度")]
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public float[] single_propeller_speed = new float[4];
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[Tooltip("无人机旋翼速度")]
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public float[] propeller_speed = new float[4];
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[Tooltip("makes the drone move relative to an external compass")]
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public bool headless;//相对外部指南针运动
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[Tooltip("the external compass used to control the drone's flight direction")]
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public Transform compass; //用于控制无人机飞行方向的外部罗盘
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[Tooltip("assign drone's propellers to this array")]
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[HideInInspector]
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public List<GameObject> propellers;//无人机螺旋桨
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[Tooltip("displays the drone's distance from the ground")]
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[HideInInspector]
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public float groundDistance = float.PositiveInfinity;//显示无人机距地高度
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[Tooltip("displays the drones distance from being upright")]
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[HideInInspector]
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public float uprightAngleDistance;//
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[Tooltip("displays the current propeller speed")]
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[HideInInspector]
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public float calPropSpeed;//显示当前螺旋桨速度
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[Tooltip("set propellers max spin speed")]
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[HideInInspector]
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public float propSpinSpeed = 50f;//设置螺旋桨最大旋转速度
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[Tooltip("how fast the propellers slow down")]
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[HideInInspector]
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[Range(0f, 1f)]
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public float propStopSpeed = 1f;//螺旋桨减速速度
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[Tooltip("the spark particle/object spawned on a collision")]
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[HideInInspector]
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public GameObject sparkPrefab;//碰撞火星预制体
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[Tooltip("audio clip played during flight")]
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[HideInInspector]
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public AudioSource flyingSound;//无人机飞行声音
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[Tooltip("audio clip played on collision")]
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[HideInInspector]
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public AudioSource sparkSound;//火星声音
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[Tooltip("displays the collision force of the last impact")]
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[HideInInspector]
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public float collisionMagnitude;//显示碰撞力
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[Tooltip("displays the current force lifting up the drone")]
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[HideInInspector]
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public float liftForce;//显示当前无人机升力
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[Tooltip("displays the current force driving the drone")]
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[HideInInspector]
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public float driveForce;//当前无人机前进驱动力
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[Tooltip("displays the current force strafing the drone")]
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[HideInInspector]
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public float strafeForce;//当前无人机后退驱动力
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[Tooltip("displays the current force turning the drone")]
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[HideInInspector]
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public float turnForce;//转动力
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[Tooltip("how fast the drone speeds up")]
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public float acceleration = 0.5f;//加速度
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[Tooltip("how fast the drone slows down")]
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public float deceleration = 0.2f;//减速度
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[Tooltip("the transform/location used to tilt the drone forward")]
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[HideInInspector]
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public Transform frontTilt;//用于使无人机向前倾斜的变换/位置
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[Tooltip("the transform/location used to tilt the drone backward")]
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[HideInInspector]
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public Transform backTilt;//用于使无人机向后倾斜的变换/位置
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[Tooltip("the transform/location used to tilt the drone right")]
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[HideInInspector]
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public Transform rightTilt;//用于使无人机向右倾斜的变换/位置
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[Tooltip("the transform/location used to tilt the drone left")]
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[HideInInspector]
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public Transform leftTilt;//用于使无人机向左倾斜的变换/位置
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[Tooltip("是否开启自动碰撞预警")]
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public bool autoStopBeforeCollision { get; set; }
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[Tooltip("是否自动控制飞行姿态")]
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public bool auto_AttitudeControl = true;
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[Tooltip("set whether or not the drone falls after a large impact")]
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[HideInInspector]
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public bool fallAfterCollision = true;//设置无人机在大撞击后是否坠落
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[Tooltip("sets the min. collision force used to drop the drone")]
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[HideInInspector]
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public float fallMinimumForce = 6f;//设置撞下无人机的最小力
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[Tooltip("sets the min. collision force used to create a spark")]
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[HideInInspector]
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public float sparkMinimumForce = 1f;//产生火花的最小力
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[Tooltip("displays drone's starting position")]
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[HideInInspector]
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public Vector3 startPosition;
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[Tooltip("displays the drone's rotational position")]
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[HideInInspector]
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public Quaternion startRotation;
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[Tooltip("虚拟飞行速度")]
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public float VirtualFlightSpeed;
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public Rigidbody rigidBody;
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public Rigidbody attitude_rigidBody;
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/// <summary>
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/// 加速度
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/// </summary>
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public Vector3 rigid_acceleration;
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/// <summary>
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/// 模拟飞行速率
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/// </summary>
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public float simulated_flight_speed;
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/// <summary>
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/// 模拟速度飞行方向
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/// </summary>
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public Vector3 simulated_flight_speed_direction;
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public delegate void OnCollisionWarning(string _collision);
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public OnCollisionWarning on_collision_warning;
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private RaycastHit hit;
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private Collider coll;
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/// <summary>
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/// 前后输入
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/// </summary>
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private float driveInput;
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/// <summary>
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/// 左右输入
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/// </summary>
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private float strafeInput;
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/// <summary>
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/// 上下输入
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/// </summary>
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private float liftInput;
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private float _drag;
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private float _angularDrag;
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private bool _gravity;
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private void Awake()
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{
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coll = GetComponent<Collider>();
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rigidBody = GetComponent<Rigidbody>();
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attitude_rigidBody = transform.GetChild(0).GetComponent<Rigidbody>();
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startPosition = base.transform.position;
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startRotation = base.transform.rotation;
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_gravity = rigidBody.useGravity;
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_drag = rigidBody.drag;
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_angularDrag = rigidBody.angularDrag;
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if (!(bool)flyingSound) flyingSound = GetComponent<AudioSource>();
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if (!(bool)sparkSound) sparkSound = GetComponent<AudioSource>();
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}
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private void Start()
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{
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MeshRenderer component = GetComponent<MeshRenderer>();
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if ((bool)component)
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{
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GameObject.Destroy(component);
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}
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Transform[] componentsInChildren = base.transform.GetComponentsInChildren<Transform>(includeInactive: true);
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for (int i = 0; i < componentsInChildren.Length; i++)
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{
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if (!(componentsInChildren[i] == base.transform) && (!componentsInChildren[i].GetComponent<UAVObjectID>() || componentsInChildren[i].GetComponent<UAVObjectID>().id != "uQ3mR7quTHTw2aAy"))
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{
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base.enabled = false;
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base.hideFlags = HideFlags.NotEditable;
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Debug.LogError("ERROR: Editing " + base.name + "'s prefab is NOT allowed!\n", base.gameObject);
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Debug.LogWarning("Disabling PA_DroneController script...\n<color=#0057af>(Unlock the Full version of the drone pack to customize drones!)</color>", base.gameObject);
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return;
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}
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}
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if (headless && !compass)
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{
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Debug.LogError("no headless compassed assinged! please asign a compass in order to use headless mode!");
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headless = false;
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}
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}
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RaycastHit[] raycasts = new RaycastHit[5];//预警碰撞对象
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string msg;
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int cou;//预警碰撞数量
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private void Update()
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{
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//计算高度
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uprightAngleDistance = (1f - base.transform.up.y) * 0.5f;
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uprightAngleDistance = (((double)uprightAngleDistance < 0.001) ? 0f : uprightAngleDistance);
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if (Physics.Raycast(base.transform.position, Vector3.down, out hit, float.PositiveInfinity))
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{
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groundDistance = hit.distance;
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}
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//螺旋桨转速控制
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if (mode_fly_by_propeller)
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{
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propeller_speed[0] = (single_propeller_speed[0] != 0 ? Mathf.Clamp(single_propeller_speed[0] * Time.deltaTime, 0, 60) : (propeller_speed[0] * (1f - propStopSpeed / 2f)));
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propeller_speed[1] = (single_propeller_speed[1] != 0 ? Mathf.Clamp(single_propeller_speed[1] * Time.deltaTime, 0, 60) : (propeller_speed[1] * (1f - propStopSpeed / 2f)));
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propeller_speed[2] = (single_propeller_speed[2] != 0 ? Mathf.Clamp(single_propeller_speed[2] * Time.deltaTime, 0, 60) : (propeller_speed[2] * (1f - propStopSpeed / 2f)));
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propeller_speed[3] = (single_propeller_speed[3] != 0 ? Mathf.Clamp(single_propeller_speed[3] * Time.deltaTime, 0, 60) : (propeller_speed[3] * (1f - propStopSpeed / 2f)));
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propellers[0].transform.Rotate(0f, 0f, -propeller_speed[0]);
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propellers[1].transform.Rotate(0f, 0f, propeller_speed[1]);
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propellers[2].transform.Rotate(0f, 0f, propeller_speed[2]);
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propellers[3].transform.Rotate(0f, 0f, -propeller_speed[3]);
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}
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else
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{
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calPropSpeed = (motorOn ? propSpinSpeed : (calPropSpeed * (1f - propStopSpeed / 2f)));
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propellers[0].transform.Rotate(0f, 0f, -calPropSpeed);
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propellers[1].transform.Rotate(0f, 0f, calPropSpeed);
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propellers[2].transform.Rotate(0f, 0f, calPropSpeed);
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propellers[3].transform.Rotate(0f, 0f, -calPropSpeed);
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}
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//是否有声音文件
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if ((bool)flyingSound)
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{
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flyingSound.volume = calPropSpeed / propSpinSpeed;
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flyingSound.pitch = 1f + liftForce * 0.02f;
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}
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}
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private void FixedUpdate()
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{
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if (motorOn)
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{
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rigidBody.useGravity = false;
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rigidBody.drag = 0f;
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rigidBody.angularDrag = 0f;
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if (mode_fly_by_direction)
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{
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//rigidBody.velocity = fly_direction;
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//transform.
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}
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else
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{
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if (headless)
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{
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if (!compass)
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{
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Debug.LogError("no headless compassed assinged! please asign a compass in order to use headless mode!");
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headless = false;
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}
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if (groundDistance > 0.2f && (driveInput != 0f || strafeInput != 0f))
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{
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rigidBody.AddForceAtPosition(Vector3.down, rigidBody.position + rigidBody.velocity.normalized * 0.5f, ForceMode.Acceleration);
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}
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Vector3 direction = compass.InverseTransformDirection(rigidBody.velocity);
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direction.z = ((driveInput != 0f) ? Mathf.Lerp(direction.z, driveInput, acceleration * 0.3f) : Mathf.Lerp(direction.z, driveInput, deceleration * 0.2f));
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driveForce = ((Mathf.Abs(direction.z) > 0.01f) ? direction.z : 0f);
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direction.x = ((strafeInput != 0f) ? Mathf.Lerp(direction.x, strafeInput, acceleration * 0.3f) : Mathf.Lerp(direction.x, strafeInput, deceleration * 0.2f));
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strafeForce = ((Mathf.Abs(direction.x) > 0.01f) ? direction.x : 0f);
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rigidBody.velocity = compass.TransformDirection(direction);
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}
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else
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{
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//姿态控制,影响定点飞行控制
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if (auto_AttitudeControl)
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{
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if (driveInput > 0f)
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{
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//rigidBody.AddForceAtPosition(Vector3.down * (Mathf.Abs(driveInput) * 0.3f), frontTilt.position, ForceMode.Acceleration);
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rigidBody.AddForceAtPosition(-frontTilt.up * (Mathf.Abs(driveInput) * 0.3f), frontTilt.position, ForceMode.Acceleration);
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}
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if (driveInput < 0f)
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{
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//rigidBody.AddForceAtPosition(Vector3.down * (Mathf.Abs(driveInput) * 0.3f), backTilt.position, ForceMode.Acceleration);
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rigidBody.AddForceAtPosition(-frontTilt.up * (Mathf.Abs(driveInput) * 0.3f), backTilt.position, ForceMode.Acceleration);
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}
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if (strafeInput > 0f)
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{
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//rigidBody.AddForceAtPosition(Vector3.down * (Mathf.Abs(strafeInput) * 0.3f), rightTilt.position, ForceMode.Acceleration);
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rigidBody.AddForceAtPosition(-frontTilt.up * (Mathf.Abs(strafeInput) * 0.3f), rightTilt.position, ForceMode.Acceleration);
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}
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if (strafeInput < 0f)
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{
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//rigidBody.AddForceAtPosition(Vector3.down * (Mathf.Abs(strafeInput) * 0.3f), leftTilt.position, ForceMode.Acceleration);
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rigidBody.AddForceAtPosition(-frontTilt.up * (Mathf.Abs(strafeInput) * 0.3f), leftTilt.position, ForceMode.Acceleration);
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}
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}
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//水平移动
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Vector3 direction2 = base.transform.InverseTransformDirection(rigidBody.velocity);
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direction2.z = ((driveInput != 0f) ? Mathf.Lerp(direction2.z, driveInput, acceleration * 0.3f) : Mathf.Lerp(direction2.z, driveInput, deceleration * 0.2f));
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driveForce = ((Mathf.Abs(direction2.z) > 0.01f) ? direction2.z : 0f);
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direction2.x = ((strafeInput != 0f) ? Mathf.Lerp(direction2.x, strafeInput, acceleration * 0.3f) : Mathf.Lerp(direction2.x, strafeInput, deceleration * 0.2f));
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strafeForce = ((Mathf.Abs(direction2.x) > 0.01f) ? direction2.x : 0f);
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rigidBody.velocity = base.transform.TransformDirection(direction2);
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}
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//垂直移动
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liftForce = ((liftInput != 0f) ? Mathf.Lerp(liftForce, liftInput, acceleration * 0.3f) : Mathf.Lerp(liftForce, liftInput, deceleration * 0.3f));
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liftForce = ((Mathf.Abs(liftForce) > 0.01f) ? liftForce : 0f);
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rigidBody.velocity = new Vector3(rigidBody.velocity.x, liftForce, rigidBody.velocity.z);
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//旋转
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rigidBody.angularVelocity *= 1f - Mathf.Clamp(InputMagnitude(), 0.2f, 1f) * stability;
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Quaternion quaternion = Quaternion.FromToRotation(base.transform.up, Vector3.up);
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rigidBody.AddTorque(new Vector3(quaternion.x, 0f, quaternion.z) * 100f, ForceMode.Acceleration);
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rigidBody.angularVelocity = new Vector3(rigidBody.angularVelocity.x, turnForce, rigidBody.angularVelocity.z);
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}
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}
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else
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{
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rigidBody.useGravity = _gravity;
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rigidBody.drag = _drag;
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rigidBody.angularDrag = _angularDrag;
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}
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#region 碰撞预警及自动停止
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if (autoStopBeforeCollision)
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{
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if (simulated_flight_speed != 0)
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{
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cou = Physics.RaycastNonAlloc(transform.position, simulated_flight_speed_direction, raycasts, 10, UAVManager.Instance.ColliderLayer);
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Debug.DrawRay(transform.position, simulated_flight_speed_direction, Color.blue);
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AutoStop();
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}
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else if (rigidBody.velocity != Vector3.zero)
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{
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cou = Physics.RaycastNonAlloc(transform.position, rigidBody.velocity, raycasts, 10, UAVManager.Instance.ColliderLayer);
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Debug.DrawRay(transform.position, rigidBody.velocity, Color.red);
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AutoStop();
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}
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}
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#endregion
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}
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void AutoStop()
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{
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if (cou > 0)
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{
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if (raycasts != null && raycasts.Length > 0)
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{
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for (int i = 0; i < raycasts.Length; i++)
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{
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var hitdic = raycasts[i].point - transform.position;
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if (raycasts[i].transform != null)
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{
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msg = string.Format("碰撞预警：{0}，方向：{1}，当前速度：{2}", raycasts[i].transform.name, hitdic, rigidBody.velocity);
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Debug.Log(message: msg);
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Debug.Log(simulated_flight_speed_direction);
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Debug.Log(rigidBody.velocity);
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on_collision_warning?.Invoke(msg);
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if (raycasts[i].distance < 2)
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{
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Debug.Log("警告！即将发生碰撞，系统保护机制介入！");
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UAVManager.Instance.UpdateAllSpeed(new Vector4(5, 5, 5, 5));
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}
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}
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}
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}
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}
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}
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//private void OnGUI()
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//{
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// GUIStyle style = new GUIStyle();
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// style.fontSize = 24;
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// GUILayout.Label(msg, style);
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// GUILayout.Label(string.Format("当前位置：{0}；当前速度：{1}；速度值{2}", transform.position, rigidBody.velocity, rigidBody.velocity.magnitude), style);
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//}
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private void OnCollisionEnter(Collision newObject)
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{
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collisionMagnitude = newObject.relativeVelocity.magnitude;
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//非动力运行情况
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var newUav = newObject.transform.GetComponent<UAVController>();
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if (Mathf.Abs(collisionMagnitude - 0.01f) < 0.01f)
|
|
{
|
|
|
|
}
|
|
if (collisionMagnitude > sparkMinimumForce)
|
|
{
|
|
SpawnSparkPrefab(newObject.contacts[0].point);
|
|
if ((bool)sparkSound)
|
|
{
|
|
sparkSound.pitch = collisionMagnitude * 0.1f;
|
|
sparkSound.PlayOneShot(sparkSound.clip, collisionMagnitude * 0.05f);
|
|
}
|
|
}
|
|
|
|
if (collisionMagnitude > fallMinimumForce && fallAfterCollision)
|
|
{
|
|
motorOn = false;
|
|
}
|
|
}
|
|
private void OnCollisionStay(Collision newObject)
|
|
{
|
|
if (groundDistance < coll.bounds.extents.y + 0.15f)
|
|
{
|
|
liftForce = Mathf.Clamp(liftForce, 0f, float.PositiveInfinity);
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// 定点飞行模式
|
|
/// </summary>
|
|
public bool is_fixed_mode;
|
|
|
|
public void ToggleTargetMode()
|
|
{
|
|
is_fixed_mode = true;
|
|
}
|
|
|
|
/// <summary>
|
|
/// 单旋翼控制模式
|
|
/// </summary>
|
|
/// <param name="index">旋翼编号</param>
|
|
/// <param name="speed"></param>
|
|
public void SingleDrone(int index, float speed)
|
|
{
|
|
single_propeller_speed[index] = speed * 500;
|
|
|
|
if (mode_fly_by_propeller)
|
|
{
|
|
float force = speed * 0.025f;
|
|
|
|
if (force != 0)
|
|
{
|
|
switch (index)
|
|
{
|
|
case 0:
|
|
StrafeInput(force);
|
|
DriveInput(-force);
|
|
break;
|
|
case 1:
|
|
StrafeInput(-force);
|
|
DriveInput(-force);
|
|
break;
|
|
case 2:
|
|
StrafeInput(force);
|
|
DriveInput(force);
|
|
break;
|
|
case 3:
|
|
StrafeInput(-force);
|
|
DriveInput(force);
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// 引擎启停
|
|
/// </summary>
|
|
/// <param name="toggle"></param>
|
|
public void ToggleMotor(int toggle = -1)
|
|
{
|
|
if (toggle == -1)
|
|
motorOn = !motorOn;
|
|
else
|
|
motorOn = toggle == 1;
|
|
}
|
|
|
|
public void ToggleHeadless()
|
|
{
|
|
headless = !headless;
|
|
}
|
|
|
|
/// <summary>
|
|
/// 前后移动输入
|
|
/// </summary>
|
|
/// <param name="input"></param>
|
|
public void DriveInput(float input)
|
|
{
|
|
if (input > 0f)
|
|
{
|
|
driveInput = input * forwardSpeed;
|
|
}
|
|
else if (input < 0f)
|
|
{
|
|
driveInput = input * backwardSpeed;
|
|
}
|
|
else
|
|
{
|
|
driveInput = 0f;
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// 左右移动输入
|
|
/// </summary>
|
|
/// <param name="input"></param>
|
|
public void StrafeInput(float input)
|
|
{
|
|
if (input > 0f)
|
|
{
|
|
strafeInput = input * rightSpeed;
|
|
}
|
|
else if (input < 0f)
|
|
{
|
|
strafeInput = input * leftSpeed;
|
|
}
|
|
else
|
|
{
|
|
strafeInput = 0f;
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// 上下移动输入
|
|
/// </summary>
|
|
/// <param name="input"></param>
|
|
public void LiftInput(float input)
|
|
{
|
|
if (input > 0f)
|
|
{
|
|
liftInput = input * riseSpeed;
|
|
motorOn = true;
|
|
}
|
|
else if (input < 0f)
|
|
{
|
|
liftInput = input * lowerSpeed;
|
|
}
|
|
else
|
|
{
|
|
liftInput = 0f;
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// 旋转输入
|
|
/// </summary>
|
|
/// <param name="input"></param>
|
|
public void TurnInput(float input)
|
|
{
|
|
turnForce = input * turnSensitivty;
|
|
}
|
|
|
|
public void ResetDronePosition()
|
|
{
|
|
rigidBody.position = startPosition;
|
|
rigidBody.rotation = startRotation;
|
|
rigidBody.velocity = Vector3.zero;
|
|
}
|
|
|
|
public void SpawnSparkPrefab(Vector3 position)
|
|
{
|
|
GameObject obj = GameObject.Instantiate(sparkPrefab, position, Quaternion.identity);
|
|
ParticleSystem.MainModule main = obj.GetComponent<ParticleSystem>().main;
|
|
GameObject.Destroy(obj, main.duration + main.startLifetime.constantMax);
|
|
}
|
|
|
|
public void AdjustLift(float value)
|
|
{
|
|
riseSpeed = value;
|
|
lowerSpeed = value;
|
|
}
|
|
|
|
public void AdjustSpeed(float value)
|
|
{
|
|
forwardSpeed = value;
|
|
backwardSpeed = value;
|
|
}
|
|
|
|
public void AdjustStrafe(float value)
|
|
{
|
|
rightSpeed = value;
|
|
leftSpeed = value;
|
|
}
|
|
|
|
public void AdjustTurn(float value)
|
|
{
|
|
turnSensitivty = value;
|
|
}
|
|
|
|
public void AdjustAccel(float value)
|
|
{
|
|
acceleration = value;
|
|
}
|
|
|
|
public void AdjustDecel(float value)
|
|
{
|
|
deceleration = value;
|
|
}
|
|
|
|
public void AdjustStable(float value)
|
|
{
|
|
stability = value;
|
|
}
|
|
|
|
public void ToggleFall(bool state)
|
|
{
|
|
fallAfterCollision = !fallAfterCollision;
|
|
}
|
|
|
|
public void ChangeFlightAudio(AudioClip newClip)
|
|
{
|
|
flyingSound.clip = newClip;
|
|
flyingSound.enabled = false;
|
|
flyingSound.enabled = true;
|
|
}
|
|
|
|
public void ChangeImpactAudio(AudioClip newClip)
|
|
{
|
|
sparkSound.clip = newClip;
|
|
sparkSound.enabled = false;
|
|
sparkSound.enabled = true;
|
|
}
|
|
|
|
private float InputMagnitude()
|
|
{
|
|
return (Mathf.Abs(driveInput) + Mathf.Abs(strafeInput) + Mathf.Abs(liftInput)) / 3f;
|
|
}
|
|
}
|